Automatic transferring and sorting intelligent robot

Abstract

The utility model discloses an automatic transferring and sorting intelligent robot which comprises a traveling rail mechanism, a transferring frame, a lifting frame, a fork arm mechanism and an intelligent system. The transferring frame is arranged on the traveling rail mechanism in a sliding mode and driven by a conveying driving device to horizontally move along the traveling rail mechanism. The lifting frames are arranged on the two sides of the transferring frame in a lifting mode respectively. The fork arm mechanisms are arranged on the lifting frame in a sliding mode, the intelligent system comprises a tray size detection unit and a control unit, and the control unit is electrically connected with the conveying driving device and the tray size detection unit. The automatic deviation rectifying device is simple in structure and high in automation degree, automatic deviation rectifying of the fork arm can be achieved, cargo trays of different specifications can be matched or the trays can be connected to the AGV in a gapless mode, and independent equipment and personnel do not need to enter warehouse logistics for cargo loading and unloading.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment, and in particular to an automatic transfer and sorting intelligent robot. Background Art

[0002] At present, there are too many links in the connection between loading and unloading and transportation in warehousing logistics. Most of the links are separated or there are redundant functional links. They need to be completed by multiple independent equipment of the same type, and many links still require manual work, which wastes space and enterprise costs and has a low degree of automation.

[0003] For example, in the pallet dismantling mechanism based on the fully automatic unpacking, sealing and stacking integrated machine with the publication number CN115583508A, it includes a buffer support mechanism arranged on both sides of the horizontal transmission mechanism, which includes a bracket, a support plate is connected to the axis of the bracket, the head end of the support plate extends through the outside of the horizontal transmission mechanism to support the pallet, and the tail end of the support plate is located outside the horizontal transmission mechanism and is provided with a linkage; and a pallet splitting mechanism arranged on the buffer support mechanism, which is used to split the pallet; the lower end surface of the pallet splitting mechanism is connected to the linkage. Although the horizontal transmission mechanism does not have to bear the weight of the stacked pallets as a whole, it still bears part of the weight on the horizontal transmission mechanism, so there will definitely be load-bearing strain. At the same time, from the overall perspective of the above-mentioned patent and a mechanical fork pallet dismantling machine with the publication number CN207986207U, it is basically a single-function horizontal transmission or lifting of stacked pallets, and many links require more other equipment to complete repeatedly, and even lifting requires more manpower to realize the integrated functions of transfer, layering, lifting and stacking.

[0004] The pallet stacking and collection device with publication number CN112850184A includes: a main frame, a pallet disassembling mechanism, a lifting mechanism, a transfer mechanism, and a conveyor; the main frame is provided with a first station and a second station; the top of the main frame is provided with a transfer mechanism; the lifting mechanism is connected to the transfer mechanism; the pallet disassembling mechanism is hoisted on the lifting mechanism; the first station and the second station of the main frame can both accommodate the pallet disassembling mechanism; a conveyor is provided at the bottom of the second station of the main frame, and at least one end of the conveyor extends out of the main frame; the transfer mechanism is used to pull the lifting mechanism to move horizontally, so that the pallet disassembling mechanism can operate with the lifting mechanism at the first station and the second station. This device only partially integrates multiple functions such as pallet disassembling, stacking and lifting, and the pallet disassembling mechanism is hoisted on the transfer device. On the whole, the contact points between each mechanism are subjected to very large forces. At the same time, the internal space constraints limit the use of various types of pallets, and the intelligent unmanned detection and error correction is low.

[0005] Therefore, avoid redundant links in the connection between loading and unloading and transportation in warehousing logistics, low operating efficiency and high operating costs. Solve the problems of automatic loading and unloading, cargo loading, pallet separation, lifting and stratification, intelligent control, etc. in warehousing logistics, and simulate and analyze them through operation plans. Develop an automatic transfer and sorting intelligent equipment. Utility Model Content

[0006] The technical problem to be solved by the embodiments of the utility model is to provide an automated transfer and sorting intelligent robot with a simple structure and a high degree of automation. It can realize automatic deviation correction of the fork arm and match cargo pallets of different specifications or pallets to AGV for seamless connection, without the need for separate equipment or personnel to enter the warehouse logistics for loading and unloading.

[0007] In order to achieve the above-mentioned purpose, the utility model discloses an automatic transfer and sorting intelligent robot, comprising

[0008] Track mechanism;

[0009] A transfer frame, wherein the transfer frame is slidably disposed on the track mechanism and driven by a transmission drive device to move horizontally along the track mechanism;

[0010] A lifting frame, which is a pair and is respectively and escalably arranged on both sides of the transfer frame;

[0011] A fork arm mechanism, wherein the fork arm mechanism is a pair and is slidably disposed on the lifting frame respectively. The fork arm mechanism is driven to move toward each other by a fork-taking driving device so that the fork arm mechanism is inserted into the socket of the pallet. The lifting frame is driven to rise and lift the pallet by the lifting driving device, and the fork arm mechanism is driven by the transfer frame to transfer the goods to a designated position.

[0012] An intelligent system, the intelligent system comprising a tray size detection unit and a control unit, the control unit being electrically connected to the conveying drive device and the tray size detection unit respectively;

[0013] The pallet size detection unit is arranged on the conveyor line, and is used to detect the size of the pallet, so that the transmission drive device drives the transfer frame to move to the center position of the pallet, thereby ensuring that the transfer frame can accurately locate the center position of the identified pallet when facing pallets of different sizes, thereby realizing the transfer of cargo pallets or pallets of different specifications.

[0014] Furthermore, the intelligent system also includes a first socket detection unit, which is arranged on the fork arm mechanism and electrically connected to the control unit, and is used to detect the height position of the tray socket.

[0015] Furthermore, the intelligent system also includes a second socket detection unit, which is arranged on the fork arm mechanism and electrically connected to the control unit, and is used to detect the width position of the tray socket.

[0016] By setting the first socket detection unit and the second socket detection unit, the left fork arm, the right fork arm and the socket of the pallet are automatically aligned, ensuring that the left fork arm and the right fork arm can be accurately inserted into the socket of the pallet when facing pallets of different specifications.

[0017] Furthermore, the intelligent system also includes a code scanning assignment unit, which is arranged on the transfer frame and connected to the control unit. The code scanning assignment unit is used to read the cargo information on the pallet and feed back the read cargo information to the control unit, so that the transfer frame transfers the cargo on the pallet to the designated unmanned vehicle, so that the unmanned vehicle will deliver the cargo to the designated storage point according to the cargo information given by the code scanning assignment following system, thereby realizing unmanned automatic storage.

[0018] Furthermore, the fork arm mechanism includes a left fork arm, a right fork arm, and a fork arm bracket, the left fork arm and the right fork arm are respectively arranged on both sides of the fork arm bracket, the fork arm bracket is slidably arranged on the lifting frame, and a rack is fixedly arranged on the fork arm bracket, the fork driving device is mounted on the lifting frame and is transmission connected to the rack, so that the fork driving device drives the left fork arm and the right fork arm to slide horizontally along the lifting frame to fork the goods.

[0019] Furthermore, the track mechanism includes a pair of guide rails, and the two sides of the bottom of the transfer frame are slidably matched with the guide rails, and a transmission assembly is provided on the guide rails, and the transmission assembly is fixedly connected to the transfer frame, so that the transmission drive device links the transmission assembly to drive the transfer frame to slide horizontally along the guide rails, thereby realizing that the track mechanism can transfer cargo pallets or pallets of different specifications on the transfer frame.

[0020] Furthermore, the inner side of the guide rail has a C-shaped groove, and a pair of running wheels slidably matched with the C-shaped groove are rotatably provided on both sides of the transfer frame, thereby further improving the weighing capacity of the guide rail mechanism.

[0021] Furthermore, the two sides of the transfer frame are respectively provided with slide rails that slide with the side walls of the lifting frame, and the two sides of the transfer frame are respectively provided with lifting components, and the lifting components are fixedly connected to the lifting frame, so that the lifting drive device links the lifting components to drive the lifting frame to slide up and down along the slide rails. In this way, stacked cargo pallets or intelligent loading and unloading, layering, disassembling, stacking, lifting, and recycling of pallets can be realized in the storage area.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] (1) The utility model can adjust the transfer frame to the left and right according to the sizes of different specifications, so as to ensure that the fork arm mechanism moves to the middle position of the pallet, and the fork arm mechanism can be accurately aligned with the socket of the pallet by using the cooperation between the lifting frame and various sensors. It not only has a high degree of automation, but also can match cargo pallets of different specifications or pallets to the AGV unmanned vehicle for seamless connection, without the need for separate equipment and personnel to enter the warehouse logistics for loading and unloading. (2) The fork arm mechanism in the utility model forks the cargo pallet or pallet to stack the cargo pallet or pallet, and the track mechanism can drive the cargo pallets or pallets of different specifications on the transfer frame to transfer, which can realize the intelligent loading and unloading, stratification, disassembly, stacking, lifting, recycling and unmanned automatic storage of multi-layer stacked cargo pallets or pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;

[0025] Figure 2 This is the overall structural front view of the utility model;

[0026] Figure 3 It is a side view of the overall structure of the utility model;

[0027] Figure 4 It is a top view of the overall structure of the utility model;

[0028] Figure 5 It is a schematic diagram of the overall structure of the fork arm mechanism. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below with reference to the accompanying drawings.

[0030] Reference Figure 1 As shown, an automatic transfer and sorting intelligent robot includes a track mechanism 1, a transfer frame 2, a lifting frame 3, a fork arm mechanism 4, and an intelligent system.

[0031] Combination Figure 3 , Figure 4As shown, the transfer frame 2 is slidably arranged on the track mechanism 1, and the track mechanism 1 includes a pair of guide rails 11 and a transmission drive device 12. The bottom sides of the transfer frame 2 are slidably matched with the guide rails 11, and a transmission assembly 13 is arranged on the guide rails 11, and the transmission assembly 13 is fixedly connected to the transfer frame 2. In this embodiment, the transmission assembly preferably adopts a chain, and the head and tail ends of the guide rails 11 are respectively rotatably provided with sprockets engaged with the chain, and the head and tail ends of the chain are respectively fixedly connected to the transfer frame 2. In this embodiment, the transmission drive device 12 preferably adopts a reduction motor, and its output shaft is fixedly connected to one of the sprockets, so that the transmission drive device 13 links the transmission assembly 12 to drive the transfer frame 2 to slide horizontally along the guide rails 11.

[0032] In order to further improve the heavy-load capacity of the track mechanism 1, the inner side of the guide rail 11 in this embodiment has a C-shaped groove, and a pair of running wheels that slide with the C-shaped groove are respectively provided on both sides of the transfer frame 2, so that when the transfer frame 2 slides along the guide rail 11, the running wheels slide in the C-shaped groove, thereby reducing the load of the travel mechanism, making the travel mechanism have heavy-load capacity, and improving the transfer efficiency of the transfer frame.

[0033] Reference Figure 1 , Figure 2 As shown, the lifting frames 3 are a pair and are respectively arranged on both sides of the transfer frame 2 so as to be liftable. The fork arm mechanisms 4 are a pair and are respectively slidably arranged on the lifting frames 3. The transfer frame 2 is respectively provided with slide rails 21 that slide with the side walls of the lifting frames 3. The transfer frame 2 is respectively provided with lifting components 22 on both sides. The lifting components 22 are fixedly connected to the lifting frames 3. In this embodiment, the lifting components 22 are composed of chains and sprockets. This structure is a conventional technical means in the prior art and will not be repeated here. In addition, a lifting drive device 23 is fixedly installed on the top of the transfer frame 2. In this embodiment, the lifting drive device 23 preferably adopts a reduction motor, so that the lifting drive device 23 links the lifting component 22 to drive the lifting frame 3 to slide up and down along the slide rail 21, so that the lifting frame 3 drives the fork arm mechanism 4 to rise and fall.

[0034] Combination Figure 4 , Figure 5 As shown, the fork arm mechanism 4 includes a left fork arm 41, a right fork arm 42, and a fork arm bracket 43. The left fork arm 41 and the right fork arm 42 are respectively arranged on both sides of the fork arm bracket 43, and sliding grooves are respectively arranged on both sides of the lifting frame 3, and a pair of pulleys slidably matched with the sliding grooves are rotatably arranged on both sides of the fork arm bracket 43, so that the left fork arm 41 and the right fork arm 42 are slidably arranged on the lifting frame 3.

[0035] A rack 431 is fixedly provided on the fork arm bracket 43, and a fork driving device 31 is mounted on the lifting frame 3. In this embodiment, the fork driving device 31 preferably adopts a servo motor, and a gear connected to the rack 411 is fixedly provided on its output shaft, so that the gear is driven to rotate through the fork driving device 31, so that the gear links the left fork arm 41 and the right fork arm 42 to slide horizontally along the lifting frame 3.

[0036] Reference Figure 1-Figure 5 As shown, during specific operation, after the transfer frame 2 is driven to move to the designated position by the transmission drive device 12, the fork drive device 31 drives the fork arm mechanism 4 to move close to each other, so that the left fork arm 41 and the right fork arm 42 are respectively inserted into the sockets of the pallet, and the lifting frame 3 is driven to drive the fork arm mechanism 4 to rise by the lifting drive device 23, so that the fork arm mechanism 4 is used to lift the goods, and then the transfer frame 2 is driven by the transmission drive device 12 to transfer the goods to the designated position. Therefore, the transfer and sorting intelligent robot can realize the stacking of cargo pallets or intelligent loading and unloading, stratification, disassembly, stacking, lifting, recycling and unmanned automatic storage of pallets in its storage area.

[0037] The intelligent system includes a tray size detection unit, a first socket detection unit, a second socket detection unit, a code scanning assignment unit, and a control unit, and the tray size detection unit, the first socket detection unit, the second socket detection unit, and the code scanning assignment unit are electrically connected to the control unit respectively. In this embodiment, the control unit includes a computer and a PLC module. The PLC module and the computer are connected by wireless methods such as Bluetooth, WIFI, 4G / 5G, etc. In this embodiment, the connection relationship between the control unit and each unit is a conventional technical means in the existing art, and no repetitive description is made here.

[0038] In this embodiment, the control unit is also electrically connected to the conveying drive device 12, the lifting drive device 23, and the fork drive device 31, so as to realize the automatic control of the transfer and sorting intelligent robot.

[0039] Among them, in this embodiment, the pallet size detection unit preferably adopts a diffuse reflection photoelectric sensor, but this embodiment is not limited to one sensor, and can also be other different sensors such as a mirror reflection photoelectric sensor, a proximity switch, and a travel switch. In this embodiment, the track mechanism 1 is docked with the conveyor line so that the transfer and sorting intelligent robot is used to transfer the goods on the conveyor line to the designated unmanned vehicle, and multiple pallet size detection units are arranged on the conveyor line, that is, multiple pallet size detection units are arranged on the conveyor line in sequence along the conveying direction, so that when the conveyor line transfers the pallet carrying the goods to the docking point between the track mechanism 1 and the conveyor line, the size of the passing pallet is detected by the pallet size detection unit, and the pallet size detection unit feeds back the acquired pallet size information to the control unit to cope with the stacking requirements of pallets of various sizes, without the need to unify the size of the pallets, so that the adaptability of the utility model is wider.

[0040] In addition, before the pallet reaches the conveyor line, the conveyor drive device 12 drives the transfer frame 2 to move to the initial position. In this embodiment, the initial position is the center position of the smallest size pallet. After the control center obtains the measurement result of the pallet size detection unit on the conveyor line, the control center calculates the required lateral movement distance of the transfer frame 2 so that the conveyor drive device 12 drives the transfer frame 2 to move to the center position of the identified pallet. The calculation formula is as follows:

[0041] T = (Ln 拖 -L1 始 / 2) / V 横

[0042] Where, T: The moving time required for the transfer frame to reach the position of the identification pallet, Ln 拖 : Pallet size of the identified pallet, L1 始 : Pallet size of the smallest pallet, V 横 : The horizontal moving speed of the transfer frame.

[0043] Through the above settings, it can be ensured that the transfer frame can accurately locate the center position of the identified pallet when facing pallets of different sizes, thereby realizing the transfer of cargo pallets or pallets of different specifications.

[0044] The first socket detection unit is arranged on the fork arm mechanism 4, and is used to obtain the height position of the tray socket. In this embodiment, the first socket detection unit preferably adopts a diffuse reflection photoelectric sensor, but this embodiment is not limited to one sensor, and can also be other different sensors such as a mirror reflection photoelectric sensor, a proximity switch, and a travel switch.

[0045] Specifically, in the present embodiment, three groups of first socket detection units are preferably used, wherein one first socket detection unit is arranged in the middle of the fork arm bracket 43, and the other two first socket detection units are arranged at the ends of the left fork arm 41 and the right fork arm 42, respectively. After the transfer frame 2 reaches the middle position of the pallet, the lifting drive device 23 drives the lifting frame 3 to rise to the highest point, and then drives the lifting frame 3 to move downward from the highest point. When the first socket detection unit on the fork arm bracket 43 detects the goods, the first socket detection units on the left fork arm 41 and the right fork arm 42 start to detect, until the first socket detection units on the left fork arm 41 and the right fork arm 42 detect the sockets on the pallet, the lifting drive device 23 then drives the lifting frame 3 to stop descending.

[0046] Furthermore, a second socket detection unit is arranged on the fork arm mechanism 4 to obtain the width position of the tray socket. In this embodiment, the second socket detection unit preferably adopts a diffuse reflection photoelectric sensor, but this embodiment is not limited to one sensor, and can also be other different sensors such as a mirror reflection photoelectric sensor, a proximity switch, and a travel switch.

[0047] In this embodiment, two groups of second socket detection units are preferably used. The second socket detection units are respectively arranged on the side walls of the left fork arm 41 and the right fork arm 42. After the first socket detection units on the left fork arm 41 and the right fork arm 42 sense the position of the socket, the second socket detection units on the left fork arm 41 and the right fork arm 42 start to detect. When the second socket detection unit on the left fork arm 41 has a signal (that is, the position of the pallet is slightly to the right), the conveying drive device 12 drives the transfer frame 2 to move to the right. On the contrary, when the second socket detection unit on the right fork arm 42 detects a signal, the transmission drive device 12 drives the transfer frame 2 to move to the left until the second socket detection units on the left fork arm 41 and the right fork arm 42 have no signal output, and the transmission drive device 12 drives the transfer frame 2 to stop moving, and drives the fork arm mechanism 4 to move similarly through the fork driving device 31, so that the left fork arm 41 and the right fork arm 42 are respectively inserted into the sockets of the pallet, thereby realizing automatic alignment of the left fork arm 41, the right fork arm 42 and the sockets of the pallet, ensuring that the left fork arm 41 and the right fork arm 42 of the fork arm mechanism 4 can be accurately inserted into the sockets of the pallet when facing pallets of different specifications.

[0048] The code scanning assignment unit is arranged on the transfer frame 2. In this embodiment, the code scanning assignment unit preferably adopts a code scanner. In this embodiment, each cargo is affixed with a label, such as a QR code, a barcode, etc. When the cargo enters the transfer frame 2, the label on the cargo is scanned by the code scanning assignment unit to read the cargo information and feed it back to the control unit, so that the control unit binds the cargo information read by the code scanning assignment unit with the cargo, and sends the cargo information of the code scanning assignment unit together with the bound cargo to the AGV unmanned vehicle through the control unit. In this embodiment, a wireless connection is adopted between the control module and the AGV unmanned vehicle, and the connection method between the two is the existing technology, which will not be repeated here.

[0049] After the fork arm mechanism 4 lifts the goods, the control module controls the ADV unmanned vehicle to wait at the designated pickup point. After the AGV unmanned vehicle arrives at the pickup point, the cargo is moved to the top of the AGV unmanned vehicle through the transfer and sorting intelligent robot and placed on the AGV unmanned vehicle. Then the AGV unmanned vehicle sends a loading completion signal to the control unit, and the fork-picking drive device 31 drives the fork arm mechanisms 4 to move apart, so that the left fork arm 41 and the right fork arm 42 respectively leave the socket of the pallet, and the AGV unmanned vehicle will deliver the cargo to the designated storage point according to the cargo information fed back by the control unit.

[0050] Through the above settings, the utility model realizes unmanned automatic storage, automatic fork arm deviation correction, matching of cargo pallets of different specifications or pallets to AGV for seamless connection, and meets the needs of multi-layer stacked cargo pallets or intelligent loading and unloading, stratification, disassembly, stacking, lifting and recycling of pallets.

[0051] Of course, the above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it accordingly. They cannot be used to limit the protection scope of the utility model. Any modifications made according to the spirit of the main technical scheme of the utility model should be included in the protection scope of the utility model.

Claims

1. An automated transfer and sorting intelligent robot, characterized in that: include Track mechanism (1); A transfer frame (2), the transfer frame (2) being slidably disposed on the track mechanism (1), and being driven by a transmission drive device (12) to move the transfer frame (2) horizontally along the track mechanism (1); A lifting frame (3), the lifting frame (3) is a pair and is respectively arranged on both sides of the transfer frame (2) in a liftable manner; A fork arm mechanism (4), wherein the fork arm mechanism (4) is a pair and is respectively slidably arranged on the lifting frame (3); the fork arm mechanism (4) is driven by a fork-taking driving device to move in a similar manner so that the fork arm mechanism (4) is inserted into the pallet of goods; and the lifting frame (3) is driven by the lifting driving device (23) to rise and lift the pallet, and the fork arm mechanism (4) is driven by the transfer frame (2) to transfer the goods to a designated position; An intelligent system, the intelligent system comprising a tray size detection unit and a control unit, the control unit being electrically connected to the conveying drive device and the tray size detection unit respectively; The pallet size detection unit is arranged on the conveyor line and is used to detect the size of the pallet, so that the conveying drive device (12) drives the transfer frame (2) to move to the center position of the pallet.

2. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: The intelligent system further comprises a first socket detection unit, the first socket detection unit being arranged on the fork arm mechanism (4) and electrically connected to the control unit, the first socket detection unit being used to detect the height position of the tray socket.

3. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: The intelligent system further comprises a second socket detection unit, the second socket detection unit being arranged on the fork arm mechanism (4) and electrically connected to the control unit, the second socket detection unit being used to detect the width position of the tray socket.

4. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: The intelligent system further comprises a code scanning and assigning unit, which is arranged on the transfer frame (2) and connected to the control unit, and is used to read cargo information on the pallet.

5. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: The fork arm mechanism (4) comprises a left fork arm (41), a right fork arm (42), and a fork arm bracket (43); the left fork arm (41) and the right fork arm (42) are respectively arranged on both sides of the fork arm bracket (43); the fork arm bracket (43) is slidably arranged on the lifting frame (3); a rack (431) is fixedly arranged on the fork arm bracket (43); the fork-taking drive device (31) is mounted on the lifting frame (3) and is transmission-connected to the rack (431), so that the fork-taking drive device (31) drives the left fork arm (41) and the right fork arm (42) to slide horizontally along the lifting frame (3).

6. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: The rail mechanism (1) comprises a pair of guide rails (11), the two sides of the bottom of the transfer frame (2) are slidably matched with the guide rails (11), and a transmission assembly (13) is provided on the guide rails (11), and the transmission assembly (13) is fixedly connected to the transfer frame (2), so that the transmission drive device (12) links with the transmission assembly (13) to drive the transfer frame (2) to slide horizontally along the guide rails (11).

7. The automated transfer and sorting intelligent robot according to claim 6, characterized in that: The inner side of the guide rail (11) is provided with a C-shaped groove, and a pair of running wheels which are rotatably arranged on both sides of the transfer frame (2) and which are slidably matched with the C-shaped groove.

8. The automated transfer and sorting intelligent robot according to claim 1, characterized in that: Slide rails (21) that slidably cooperate with side walls of the lifting frame (3) are respectively arranged on both sides of the transfer frame (2), and lifting components (22) are respectively arranged on both sides of the transfer frame (2). The lifting components (22) are fixedly connected to the lifting frame (3), so that the lifting drive device (23) links the lifting components (22) to drive the lifting frame (3) to slide up and down along the slide rails (21).

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